Preheat the grill to medium-high heat, approximately 400°F.
Trim or snap off the tough ends of the asparagus.
Place the asparagus in a large bowl. Drizzle with olive oil and season with salt, black pepper, and garlic powder.
Toss until the asparagus is evenly coated with the oil and seasonings.
Arrange the asparagus perpendicular to the grill grates to prevent the spears from falling through.
Close the lid and grill for 6–10 minutes, turning halfway through, until the asparagus is crisp-tender and lightly charred.
Remove from the grill and squeeze the fresh lemon juice over the asparagus.
Serve immediately while warm.
Notes
Grilled asparagus is best served fresh. Store leftovers in an airtight container in the refrigerator for up to 5 days.You can substitute approximately ½ teaspoon garlic salt for the garlic powder and salt. Adjust to taste to avoid over-seasoning.